说明：  这是一个多维的容积卡尔曼滤波（CKF）程序，编程语言为Matlab，请将该函数添加到你的仿真实例，直接调用函数即可。
(This is a multi-dimensional cubature Kalman filter (CKF) program, the programming language is Matlab. Please add the function to your simulation example, you can call the function directly.)